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Published on: May 20, 2020
Robotic hand-held surgical device: evaluation of end-effector's kinematics and development of proof-of-concept
Ali Hassan Zahraee1, Jérome Szewczyk, Jamie Kyujin Paik
1Institut des Systemes Intelligents et de Robotique Université Pierre et Marie Curie-Paris VI, 4, place Jussieu, 75005, Paris, France.
Abstract:
We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results.
